Revision 0:8fc18502886a, committed 2017-06-11

Comitter:

danjulio

Date:

Sun Jun 11 04:06:22 2017 +0000

Commit message:

Initial commit of ported gps library for mbed

Changed in this revision

diff -r 000000000000 -r 8fc18502886a gps.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/gps.cpp	Sun Jun 11 04:06:22 2017 +0000
@@ -0,0 +1,516 @@
+/***********************************
+This is our GPS library
+
+Adafruit invests time and resources providing this open source code,
+please support Adafruit and open-source hardware by purchasing
+products from Adafruit!
+
+Written by Limor Fried/Ladyada for Adafruit Industries.
+BSD license, check license.txt for more information
+All text above must be included in any redistribution
+****************************************/
+//
+// Ported to mbed by Dan Julio - 5/2017
+
+#include <gps.h>
+
+// how long are max NMEA lines to parse?
+#define MAXLINELENGTH 120
+
+// we double buffer: read one line in and leave one for the main program
+volatile char line1[MAXLINELENGTH];
+volatile char line2[MAXLINELENGTH];
+// our index into filling the current line
+volatile uint8_t lineidx=0;
+// pointers to the double buffers
+volatile char *currentline;
+volatile char *lastline;
+volatile bool recvdflag;
+volatile bool inStandbyMode;
+
+
+bool Adafruit_GPS::parse(char *nmea) {
+  // do checksum check
+
+  // first look if we even have one
+  if (nmea[strlen(nmea)-4] == '*') {
+    uint16_t sum = parseHex(nmea[strlen(nmea)-3]) * 16;
+    sum += parseHex(nmea[strlen(nmea)-2]);
+    
+    // check checksum 
+    for (uint8_t i=2; i < (strlen(nmea)-4); i++) {
+      sum ^= nmea[i];
+    }
+    if (sum != 0) {
+      // bad checksum :(
+      //printf("bad checksum\n");
+      return false;
+    }
+  }
+  int32_t degree;
+  long minutes;
+  char degreebuff[10];
+  // look for a few common sentences
+  if (strstr(nmea, "$GPGGA")) {
+    // found GGA
+    char *p = nmea;
+    // get time
+    p = strchr(p, ',')+1;
+    float timef = atof(p);
+    uint32_t time = timef;
+    hour = time / 10000;
+    minute = (time % 10000) / 100;
+    seconds = (time % 100);
+
+    milliseconds = fmod(timef, 1.0f) * 1000;
+
+    // parse out latitude
+    p = strchr(p, ',')+1;
+    if (',' != *p)
+    {
+      strncpy(degreebuff, p, 2);
+      p += 2;
+      degreebuff[2] = '\0';
+      degree = atol(degreebuff) * 10000000;
+      strncpy(degreebuff, p, 2); // minutes
+      p += 3; // skip decimal point
+      strncpy(degreebuff + 2, p, 4);
+      degreebuff[6] = '\0';
+      minutes = 50 * atol(degreebuff) / 3;
+      latitude_fixed = degree + minutes;
+      latitude = degree / 100000 + minutes * 0.000006f;
+      latitudeDegrees = (latitude-100*int(latitude/100))/60.0f;
+      latitudeDegrees += int(latitude/100);
+    }
+    
+    p = strchr(p, ',')+1;
+    if (',' != *p)
+    {
+      if (p[0] == 'S') latitudeDegrees *= -1.0f;
+      if (p[0] == 'N') lat = 'N';
+      else if (p[0] == 'S') lat = 'S';
+      else if (p[0] == ',') lat = 0;
+      else return false;
+    }
+    
+    // parse out longitude
+    p = strchr(p, ',')+1;
+    if (',' != *p)
+    {
+      strncpy(degreebuff, p, 3);
+      p += 3;
+      degreebuff[3] = '\0';
+      degree = atol(degreebuff) * 10000000;
+      strncpy(degreebuff, p, 2); // minutes
+      p += 3; // skip decimal point
+      strncpy(degreebuff + 2, p, 4);
+      degreebuff[6] = '\0';
+      minutes = 50 * atol(degreebuff) / 3;
+      longitude_fixed = degree + minutes;
+      longitude = degree / 100000 + minutes * 0.000006f;
+      longitudeDegrees = (longitude-100*int(longitude/100))/60.0f;
+      longitudeDegrees += int(longitude/100);
+    }
+    
+    p = strchr(p, ',')+1;
+    if (',' != *p)
+    {
+      if (p[0] == 'W') longitudeDegrees *= -1.0f;
+      if (p[0] == 'W') lon = 'W';
+      else if (p[0] == 'E') lon = 'E';
+      else if (p[0] == ',') lon = 0;
+      else {
+          //printf("unknown lon\n");
+          return false;
+      }
+    }
+    
+    p = strchr(p, ',')+1;
+    if (',' != *p)
+    {
+      fixquality = atoi(p);
+      fix = (fixquality != 0);   // Added by Dan Julio
+    }
+    
+    p = strchr(p, ',')+1;
+    if (',' != *p)
+    {
+      satellites = atoi(p);
+    }
+    
+    p = strchr(p, ',')+1;
+    if (',' != *p)
+    {
+      HDOP = atof(p);
+    }
+    
+    p = strchr(p, ',')+1;
+    if (',' != *p)
+    {
+      altitude = atof(p);
+    }
+    
+    p = strchr(p, ',')+1;
+    p = strchr(p, ',')+1;
+    if (',' != *p)
+    {
+      geoidheight = atof(p);
+    }
+    return true;
+  }
+  if (strstr(nmea, "$GPRMC")) {
+   // found RMC
+    char *p = nmea;
+
+    // get time
+    p = strchr(p, ',')+1;
+    float timef = atof(p);
+    uint32_t time = timef;
+    hour = time / 10000;
+    minute = (time % 10000) / 100;
+    seconds = (time % 100);
+
+    milliseconds = fmod(timef, 1.0f) * 1000;
+
+    p = strchr(p, ',')+1;
+    // Serial.println(p);
+    if (p[0] == 'A') 
+      fix = true;
+    else if (p[0] == 'V')
+      fix = false;
+    else {
+      //printf("unknown fix\n");
+      return false;
+    }
+
+    // parse out latitude
+    p = strchr(p, ',')+1;
+    if (',' != *p)
+    {
+      strncpy(degreebuff, p, 2);
+      p += 2;
+      degreebuff[2] = '\0';
+      long degree = atol(degreebuff) * 10000000;
+      strncpy(degreebuff, p, 2); // minutes
+      p += 3; // skip decimal point
+      strncpy(degreebuff + 2, p, 4);
+      degreebuff[6] = '\0';
+      long minutes = 50 * atol(degreebuff) / 3;
+      latitude_fixed = degree + minutes;
+      latitude = degree / 100000 + minutes * 0.000006f;
+      latitudeDegrees = (latitude-100*int(latitude/100))/60.0f;
+      latitudeDegrees += int(latitude/100);
+    }
+
+    p = strchr(p, ',')+1;
+    if (',' != *p)
+    {
+      if (p[0] == 'S') latitudeDegrees *= -1.0;
+      if (p[0] == 'N') lat = 'N';
+      else if (p[0] == 'S') lat = 'S';
+      else if (p[0] == ',') lat = 0;
+      else {
+          //printf("unknown lat\n");
+          return false;
+      }
+    }
+
+    // parse out longitude
+    p = strchr(p, ',')+1;
+    if (',' != *p)
+    {
+      strncpy(degreebuff, p, 3);
+      p += 3;
+      degreebuff[3] = '\0';
+      degree = atol(degreebuff) * 10000000;
+      strncpy(degreebuff, p, 2); // minutes
+      p += 3; // skip decimal point
+      strncpy(degreebuff + 2, p, 4);
+      degreebuff[6] = '\0';
+      minutes = 50 * atol(degreebuff) / 3;
+      longitude_fixed = degree + minutes;
+      longitude = degree / 100000 + minutes * 0.000006f;
+      longitudeDegrees = (longitude-100*int(longitude/100))/60.0f;
+      longitudeDegrees += int(longitude/100);
+    }
+
+    p = strchr(p, ',')+1;
+    if (',' != *p)
+    {
+      if (p[0] == 'W') longitudeDegrees *= -1.0f;
+      if (p[0] == 'W') lon = 'W';
+      else if (p[0] == 'E') lon = 'E';
+      else if (p[0] == ',') lon = 0;
+      else {
+          //printf("unknown lon (2)\n");
+          return false;
+      }
+    }
+
+    // speed
+    p = strchr(p, ',')+1;
+    if (',' != *p)
+    {
+      speed = atof(p);
+    }
+
+    // angle
+    p = strchr(p, ',')+1;
+    if (',' != *p)
+    {
+      angle = atof(p);
+    }
+
+    p = strchr(p, ',')+1;
+    if (',' != *p)
+    {
+      uint32_t fulldate = atof(p);
+      day = fulldate / 10000;
+      month = (fulldate % 10000) / 100;
+      year = (fulldate % 100);
+    }
+
+    // we dont parse the remaining, yet!
+    return true;
+  }
+  //printf("unknown sentence\n");
+  return false;
+}
+
+char Adafruit_GPS::read(void) {
+  char c = 0;
+  
+  if (paused) return c;
+
+  if(!gpsHwSerial->readable()) return c;
+
+  c = gpsHwSerial->getc();
+
+  printf("%c", c);
+
+//  if (c == '$') {         //please don't eat the dollar sign - rdl 9/15/14
+//    currentline[lineidx] = 0;
+//    lineidx = 0;
+//  }
+  if (c == '\n') {
+    currentline[lineidx] = 0;
+
+    if (currentline == line1) {
+      currentline = line2;
+      lastline = line1;
+    } else {
+      currentline = line1;
+      lastline = line2;
+    }
+
+    //printf("----\n");
+    //printf((char *)lastline);
+    //printf("\n----\n");
+    lineidx = 0;
+    recvdflag = true;
+  }
+
+  if (c != '\r') {
+  currentline[lineidx++] = c;
+  if (lineidx >= MAXLINELENGTH)
+    lineidx = MAXLINELENGTH-1;
+  }
+
+  return c;
+}
+
+void Adafruit_GPS::readNMEA(void) {
+    char c;
+    
+    recvdflag = false;
+    
+    while (!recvdflag) {
+        if (!gpsHwSerial->readable()) {
+            // No data yet
+            Thread::yield();
+        } else {
+            c = gpsHwSerial->getc();
+            //printf("%c", c);
+            if (c == '\n') {
+                // End-of-line
+                currentline[lineidx] = 0;
+                if (currentline == line1) {
+                    currentline = line2;
+                    lastline = line1;
+                } else {
+                    currentline = line1;
+                    lastline = line2;
+                }
+                lineidx = 0;
+                recvdflag = true;
+            } else if (c != '\r') {
+                // Data character
+                currentline[lineidx++] = c;
+                if (lineidx >= MAXLINELENGTH) {
+                    lineidx = MAXLINELENGTH-1;
+                }
+            }
+        }
+    }
+}
+
+// Constructor when using Built-in Serial Hardware
+Adafruit_GPS::Adafruit_GPS(Serial *ser) {
+  common_init();  // Set everything to common state, then...
+  gpsHwSerial = ser; // ...override gpsHwSerial with value passed.
+}
+
+// Initialization code used by all constructor types
+void Adafruit_GPS::common_init(void) {
+  gpsHwSerial = NULL; // port pointer in corresponding constructor
+  recvdflag   = false;
+  paused      = false;
+  lineidx     = 0;
+  currentline = line1;
+  lastline    = line2;
+
+  hour = minute = seconds = year = month = day =
+    fixquality = satellites = 0; // uint8_t
+  lat = lon = mag = 0; // char
+  fix = false; // bool
+  milliseconds = 0; // uint16_t
+  latitude = longitude = geoidheight = altitude =
+    speed = angle = magvariation = HDOP = 0.0; // float
+}
+
+void Adafruit_GPS::begin(uint32_t baud)
+{
+  gpsHwSerial->baud(baud);
+}
+
+void Adafruit_GPS::sendCommand(const char *str) {
+  gpsHwSerial->printf("%s\n", str);
+}
+
+bool Adafruit_GPS::newNMEAreceived(void) {
+  return recvdflag;
+}
+
+void Adafruit_GPS::pause(bool p) {
+  paused = p;
+}
+
+char *Adafruit_GPS::lastNMEA(void) {
+  recvdflag = false;
+  return (char *)lastline;
+}
+
+// read a Hex value and return the decimal equivalent
+uint8_t Adafruit_GPS::parseHex(char c) {
+    if (c < '0')
+      return 0;
+    if (c <= '9')
+      return c - '0';
+    if (c < 'A')
+       return 0;
+    if (c <= 'F')
+       return (c - 'A')+10;
+    // if (c > 'F')
+    return 0;
+}
+
+bool Adafruit_GPS::waitForSentence(const char *wait4me, uint8_t max) {
+  char str[20];
+
+  uint8_t i=0;
+  while (i < max) {
+    if (newNMEAreceived()) { 
+      char *nmea = lastNMEA();
+      strncpy(str, nmea, 20);
+      str[19] = 0;
+      i++;
+
+      if (strstr(str, wait4me))
+    return true;
+    }
+  }
+
+  return false;
+}
+
+bool Adafruit_GPS::LOCUS_StartLogger(void) {
+  sendCommand(PMTK_LOCUS_STARTLOG);
+  recvdflag = false;
+  return waitForSentence(PMTK_LOCUS_STARTSTOPACK);
+}
+
+bool Adafruit_GPS::LOCUS_StopLogger(void) {
+  sendCommand(PMTK_LOCUS_STOPLOG);
+  recvdflag = false;
+  return waitForSentence(PMTK_LOCUS_STARTSTOPACK);
+}
+
+bool Adafruit_GPS::LOCUS_ReadStatus(void) {
+  sendCommand(PMTK_LOCUS_QUERY_STATUS);
+  
+  if (! waitForSentence("$PMTKLOG"))
+    return false;
+
+  char *response = lastNMEA();
+  uint16_t parsed[10];
+  uint8_t i;
+  
+  for (i=0; i<10; i++) parsed[i] = 65535;
+  
+  response = strchr(response, ',');
+  for (i=0; i<10; i++) {
+    if (!response || (response[0] == 0) || (response[0] == '*')) 
+      break;
+    response++;
+    parsed[i]=0;
+    while ((response[0] != ',') && 
+       (response[0] != '*') && (response[0] != 0)) {
+      parsed[i] *= 10;
+      char c = response[0];
+      if ((c <= '9') && (c >= '0'))
+        parsed[i] += c - '0';
+      else
+        parsed[i] = c;
+      response++;
+    }
+  }
+  LOCUS_serial = parsed[0];
+  LOCUS_type = parsed[1];
+  if ((parsed[2] <= 'z') && (parsed[2] >= 'a')) {
+    parsed[2] = parsed[2] - 'a' + 10; 
+  }
+  LOCUS_mode = parsed[2];
+  LOCUS_config = parsed[3];
+  LOCUS_interval = parsed[4];
+  LOCUS_distance = parsed[5];
+  LOCUS_speed = parsed[6];
+  LOCUS_status = !parsed[7];
+  LOCUS_records = parsed[8];
+  LOCUS_percent = parsed[9];
+
+  return true;
+}
+
+// Standby Mode Switches
+bool Adafruit_GPS::standby(void) {
+  if (inStandbyMode) {
+    return false;  // Returns false if already in standby mode, so that you do not wake it up by sending commands to GPS
+  }
+  else {
+    inStandbyMode = true;
+    sendCommand(PMTK_STANDBY);
+    //return waitForSentence(PMTK_STANDBY_SUCCESS);  // don't seem to be fast enough to catch the message, or something else just is not working
+    return true;
+  }
+}
+
+bool Adafruit_GPS::wakeup(void) {
+  if (inStandbyMode) {
+   inStandbyMode = false;
+    sendCommand("");  // send byte to wake it up
+    return waitForSentence(PMTK_AWAKE);
+  }
+  else {
+      return false;  // Returns false if not in standby mode, nothing to wakeup
+  }
+}

diff -r 000000000000 -r 8fc18502886a gps.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/gps.h	Sun Jun 11 04:06:22 2017 +0000
@@ -0,0 +1,141 @@
+/***********************************
+This is the Adafruit GPS library - the ultimate GPS library
+for the ultimate GPS module!
+
+Tested and works great with the Adafruit Ultimate GPS module
+using MTK33x9 chipset
+    ------> http://www.adafruit.com/products/746
+Pick one up today at the Adafruit electronics shop 
+and help support open source hardware & software! -ada
+
+Adafruit invests time and resources providing this open source code, 
+please support Adafruit and open-source hardware by purchasing 
+products from Adafruit!
+
+Written by Limor Fried/Ladyada  for Adafruit Industries.  
+BSD license, check license.txt for more information
+All text above must be included in any redistribution
+****************************************/
+// Fllybob added lines 34,35 and 40,41 to add 100mHz logging capability 
+//
+// Ported to mbed by Dan Julio - 5/2017
+
+#ifndef _ADAFRUIT_GPS_H
+#define _ADAFRUIT_GPS_H
+
+#include "mbed.h"
+
+// different commands to set the update rate from once a second (1 Hz) to 10 times a second (10Hz)
+// Note that these only control the rate at which the position is echoed, to actually speed up the
+// position fix you must also send one of the position fix rate commands below too.
+#define PMTK_SET_NMEA_UPDATE_100_MILLIHERTZ  "$PMTK220,10000*2F" // Once every 10 seconds, 100 millihertz.
+#define PMTK_SET_NMEA_UPDATE_200_MILLIHERTZ  "$PMTK220,5000*1B"  // Once every 5 seconds, 200 millihertz.
+#define PMTK_SET_NMEA_UPDATE_1HZ  "$PMTK220,1000*1F"
+#define PMTK_SET_NMEA_UPDATE_5HZ  "$PMTK220,200*2C"
+#define PMTK_SET_NMEA_UPDATE_10HZ "$PMTK220,100*2F"
+// Position fix update rate commands.
+#define PMTK_API_SET_FIX_CTL_100_MILLIHERTZ  "$PMTK300,10000,0,0,0,0*2C" // Once every 10 seconds, 100 millihertz.
+#define PMTK_API_SET_FIX_CTL_200_MILLIHERTZ  "$PMTK300,5000,0,0,0,0*18"  // Once every 5 seconds, 200 millihertz.
+#define PMTK_API_SET_FIX_CTL_1HZ  "$PMTK300,1000,0,0,0,0*1C"
+#define PMTK_API_SET_FIX_CTL_5HZ  "$PMTK300,200,0,0,0,0*2F"
+// Can't fix position faster than 5 times a second!
+
+
+#define PMTK_SET_BAUD_57600 "$PMTK251,57600*2C"
+#define PMTK_SET_BAUD_9600 "$PMTK251,9600*17"
+
+// turn on only the second sentence (GPRMC)
+#define PMTK_SET_NMEA_OUTPUT_RMCONLY "$PMTK314,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0*29"
+// turn on GPRMC and GGA
+#define PMTK_SET_NMEA_OUTPUT_RMCGGA "$PMTK314,0,1,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0*28"
+// turn on ALL THE DATA
+#define PMTK_SET_NMEA_OUTPUT_ALLDATA "$PMTK314,1,1,1,1,1,1,0,0,0,0,0,0,0,0,0,0,0,0,0*28"
+// turn off output
+#define PMTK_SET_NMEA_OUTPUT_OFF "$PMTK314,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0*28"
+
+// to generate your own sentences, check out the MTK command datasheet and use a checksum calculator
+// such as the awesome http://www.hhhh.org/wiml/proj/nmeaxor.html
+
+#define PMTK_LOCUS_STARTLOG  "$PMTK185,0*22"
+#define PMTK_LOCUS_STOPLOG "$PMTK185,1*23"
+#define PMTK_LOCUS_STARTSTOPACK "$PMTK001,185,3*3C"
+#define PMTK_LOCUS_QUERY_STATUS "$PMTK183*38"
+#define PMTK_LOCUS_ERASE_FLASH "$PMTK184,1*22"
+#define LOCUS_OVERLAP 0
+#define LOCUS_FULLSTOP 1
+
+#define PMTK_ENABLE_SBAS "$PMTK313,1*2E"
+#define PMTK_ENABLE_WAAS "$PMTK301,2*2E"
+
+// standby command & boot successful message
+#define PMTK_STANDBY "$PMTK161,0*28"
+#define PMTK_STANDBY_SUCCESS "$PMTK001,161,3*36"  // Not needed currently
+#define PMTK_AWAKE "$PMTK010,002*2D"
+
+// ask for the release and version
+#define PMTK_Q_RELEASE "$PMTK605*31"
+
+// request for updates on antenna status 
+#define PGCMD_ANTENNA "$PGCMD,33,1*6C" 
+#define PGCMD_NOANTENNA "$PGCMD,33,0*6D" 
+
+// how long to wait when we're looking for a response
+#define MAXWAITSENTENCE 5
+
+
+class Adafruit_GPS {
+ public:
+  void begin(uint32_t baud); 
+
+  Adafruit_GPS(Serial *ser); // Constructor when using HardwareSerial
+
+  char *lastNMEA(void);
+  bool newNMEAreceived();
+  void common_init(void);
+
+  void sendCommand(const char *);
+  
+  void pause(bool b);
+
+  bool parseNMEA(char *response);
+  uint8_t parseHex(char c);
+
+  char read(void);
+  void readNMEA(void);
+  bool parse(char *);
+
+  bool wakeup(void);
+  bool standby(void);
+
+  uint8_t hour, minute, seconds, year, month, day;
+  uint16_t milliseconds;
+  // Floating point latitude and longitude value in degrees.
+  float latitude, longitude;
+  // Fixed point latitude and longitude value with degrees stored in units of 1/100000 degrees,
+  // and minutes stored in units of 1/100000 degrees.  See pull #13 for more details:
+  //   https://github.com/adafruit/Adafruit-GPS-Library/pull/13
+  int32_t latitude_fixed, longitude_fixed;
+  float latitudeDegrees, longitudeDegrees;
+  float geoidheight, altitude;
+  float speed, angle, magvariation, HDOP;
+  char lat, lon, mag;
+  bool fix;
+  uint8_t fixquality, satellites;
+
+  bool waitForSentence(const char *wait, uint8_t max = MAXWAITSENTENCE);
+  bool LOCUS_StartLogger(void);
+  bool LOCUS_StopLogger(void);
+  bool LOCUS_ReadStatus(void);
+
+  uint16_t LOCUS_serial, LOCUS_records;
+  uint8_t LOCUS_type, LOCUS_mode, LOCUS_config, LOCUS_interval, LOCUS_distance, LOCUS_speed, LOCUS_status, LOCUS_percent;
+ private:
+  bool paused;
+  
+  uint8_t parseResponse(char *response);
+
+  Serial *gpsHwSerial;
+};
+
+
+#endif